Sequential Convex Programming Using Safe Flight Corridor For Trajectory Planning Of Uavs,
2025
Department of Automation, North China Electric Power University(Baoding), Baoding 071003, China
Sequential Convex Programming Using Safe Flight Corridor For Trajectory Planning Of Uavs, Zhu Wang, Zhenpeng Zhang, Mengtong Zhang, Guangtong Xu
Journal of System Simulation
Abstract: To address the issues of sensitivity to initial values and weak convergence of sequential convex programming(SCP) based time-optimal trajectory planning for UAVs, a SCP method using safety flight corridor, denoted as SFC-SCP(safe flight corridor-sequential convex programming) is proposed. According to the obstacle avoidance path obtained from the front-end path planning, a safe flight corridor is constructed by forming a convex polygon safe flight area without obstacles for each trajectory point. The non-convex obstacle avoidance constraint is converted into linear inequality constraints to improve convergence ability. The rear-end SCP method is used to transform the nonlinear trajectory optimization problem under …
Task Reallocation Method For Unmanned Swarm Under Adversarial Conditions,
2025
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Task Reallocation Method For Unmanned Swarm Under Adversarial Conditions, Lun Zhang, Mei Yang, Tuo Zhao, Shuiku Zhang, Jian Huang
Journal of System Simulation
Abstract: Heterogeneous unmanned swarms have important potential applications in future wars. However, during the high-intensity confrontation in the battlefield, how to efficiently and quickly redistribute the tasks carried by the damaged agents so that the swarms could successfully complete the mission is a difficult problem that must be addressed in the combat application of unmanned swarms. This paper proposes a task reallocation method named improved CNP-HA (contract net protocol-Hungarian algorithm). Through the allocation mechanism and the bidding mechanism, the method realizes the task reallocation of damaged agents with lower communication cost and faster speed comparing with baseline methods. In the …
Moving Target Velocity Measurement Method Based On Multi-View Observation Optimization Of Uav Image,
2025
College of Electronic Science and Technology, National University of Defense Technology, Changsha 410003, China; National Laboratory on Automatic Target Recognition, National University of Defense Technology, Changsha 410003, China
Moving Target Velocity Measurement Method Based On Multi-View Observation Optimization Of Uav Image, Yuxin Wu, Zhilong Zhang, Aoxu Liu, Jiangwei Zou, Chuwei Li
Journal of System Simulation
Abstract: Measuring the position and velocity of moving targets is an important requirement for drone video analysis. In this paper, a moving target localization and velocity estimation algorithm based on least square optimization of UAV multi-view observation images is proposed: the video and corresponding pose parameters obtained by the airborne optoelectronic system are used to establish a line-of-sight model at multiple observation times, it is unified to the WGS-84 coordinate system by coordinate transformation, the position and velocity of the moving target are estimated based on the least squares algorithm. This algorithm does not require laser ranging information between the …
A Visual Servo Precision Assembly Method For Riveting Parts Based On Adaptive Extended Kalman Filtering,
2025
School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China; Robot Research Institute, Lanzhou Jiaotong University, Lanzhou 730070, China
A Visual Servo Precision Assembly Method For Riveting Parts Based On Adaptive Extended Kalman Filtering, Zonggang Li, Yanbo Li, Jianjun Jiao, Yajiang Du
Journal of System Simulation
Abstract: Aiming at the problems of multiple peg-in-hole riveting parts in industrial production due to the large number of rivets, small gap between rivets and rivet holes, and irregular rivet distribution, resulting in complex assembly process constraints, high assembly accuracy requirements, and difficulty in realizing intelligent riveting process to improve assembly efficiency, a visual servo accurate assembly method of riveting parts based on adaptive extended Kalman filter is proposed. In order to realize the high-precision positioning of riveted parts assembly, on the basis of the traditional extended Kalman filtering, an adaptive noise estimator is introduced to eliminate the influence of …
Research And Realization Of Immersive Skeleton Simulation System,
2025
National Center at Technology Innovation for Digital Construction, Huazhong University of Science and Technology, Wuhan 430074, China
Research And Realization Of Immersive Skeleton Simulation System, Zining Wang, Shijiang Luo, Weiya Chen, Hanbin Luo
Journal of System Simulation
Abstract: Skeleton, as one of the sliding sports in Winter Olympic Games, has the characteristics of high speed, complexity and danger. In order to reduce the risk of accidents during sliding, a series of immersive skeleton simulation system is constructed utilizing virtual reality. Based on the point cloud data obtained by laser scanning, the existing track is modeled to build a virtual track stadium and skeleton sliding model in Unreal Engine 4. The data collected by motion capture devices is employed to estimate the centroid of the person and enable glide control input. The simulated skeleton posture is captured and …
Global Selection And Local Differentiation Fusion For Vehicle Re-Identification,
2025
College of Information and Control Engineering, Xi 'an University of Architecture and Technology, Xi'an 710055, China; Xi'an Key Labratory of Building Manufactaring Intelligent & Automation Technology, Xi'an 710055, China
Global Selection And Local Differentiation Fusion For Vehicle Re-Identification, Shengjun Xu, Mengqian Zhang, Bohan Zhan, Guanghui Liu, Yuebo Meng
Journal of System Simulation
Abstract: To address the interference issues of different perspectives, complex backgrounds, and lighting intensity in vehicle re-identification caused by cross lens multi view differences, a vehicle reidentification network integrating global selection and local differentiation is proposed. Based on Resnet50 backbone network, a three-branch complementary network integrating global and local features is designed. The global branch is used to learn overall appearance information of the vehicle, while the local branch captures differential details of the vehicle. Based on attention mechanism, a context feature selection module (CFSM) is proposed to effectively separate vehicle information from complex background information, and a detail feature …
Vehicle Routing Problem With Drones Considering Zoned Distribution Of Epidemic Prevention Materials,
2025
School of Management, Hefei University of Technology, Hefei 230009, China; Intelligent Management of Space System Anhui Engineering Research Center, Hefei 230009, China
Vehicle Routing Problem With Drones Considering Zoned Distribution Of Epidemic Prevention Materials, Huawei Ma, Boying Yan
Journal of System Simulation
Abstract: To address the shortcomings of current contactless delivery methods in the collaborative distribution of epidemic prevention supplies, we introduce a specialized model called the vehicle routing problem with drones considering zoned distribution (VRPD-ZD). In order to solve the problem, a linear programming model is established with the shortest delivery time as the optimization objective, and a two-stage heuristic algorithm is proposed. The initial solution is generated by greedy algorithm in the first stage. In the second stage, we develop a Tabu search algorithm with genetic algorithm (TSGA) hybrid. This enhanced algorithm integrates a taboo list and employs advanced chromosome …
Research On Modeling And Simulation Of Collective Mechanical Props Performance Behavior,
2025
School of Computer Science & Technology, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Digital Performance and Simulation Technology, Beijing 100081, China
Research On Modeling And Simulation Of Collective Mechanical Props Performance Behavior, Lian He, Kexiang Huang, Dapeng Yan, Ruida Tang, Gangyi Ding
Journal of System Simulation
Abstract: In stage performances, the increasing number of mechanical props poses significant challenges to their control and design. Each creative modification requires a complete rehearsal, resulting in low efficiency and sensitivity to creative changes. To address these issues, a model for the collective performance behavior of mechanical props is proposed. It utilizes centroid growth and 3D linear interpolation to generate spatial states and optimizes them in the temporal dimension using gradient descent. Through the construction of 3D simulation experiments, the planning and optimization of collective mechanical prop performance behavior in the model are analyzed. Similarity evaluation is used to compare …
Novel Multi-Gait Strategy For Stable And Efficient Quadruped Robot Locomotion,
2025
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Novel Multi-Gait Strategy For Stable And Efficient Quadruped Robot Locomotion, Daoxun Zhang, Xieyuanli Chen, Zhengyu Zhong, Ming Xu, Zhiqiang Zheng, Huimin Lu
Journal of System Simulation
Abstract: Inspired by the natural gait transition mechanism of quadruped animals, a multi-gait motion strategy is proposed to realize the stable and efficient motion of quadruped robots on different terrains in response to the trade-off between motion energy efficiency and motion stability. The gait is defined based on the duty cycle parameters and phase bias to form the switching basis. Secondly, the affine transformation of gait parameters and the finite state machine are introduced to establish the switching sequence, which realizes the timely gait switching. The speed-gait mapping is designed based on the cost of transport (CoT) and the stability …
Design Of Robust Behavior Tree Control Architecture For Agents In Dynamic Task Environment,
2025
College of System Engineering, National University of Defense Technology, Changsha 410073, China
Design Of Robust Behavior Tree Control Architecture For Agents In Dynamic Task Environment, Qiwei Wang, Qi Zhang, Shuo Yang, Yong Peng
Journal of System Simulation
Abstract: In recent years, the environment in which agents perform tasks has become more open and dynamic, which puts forward higher requirements for the robustness of task planning and behavior scheduling of agents. As a classic behavior control architecture, behavior tree has the characteristics of modularity, behavior parameterization, and structure of both plan representation and reaction, which can effectively support the behavior representation, decision making and scheduling of agents. Based on the hybrid behavior strategy , this paper proposes a robust behavior tree control architecture for dynamic task environment to realize the prudent decision-making and reactive control of agents. The …
Decision Modeling And Solution Based On Game Adversarial Complex Systems,
2025
Beijing Simulation Center, Beijing 100854, China
Decision Modeling And Solution Based On Game Adversarial Complex Systems, Jiachen Jiang, Zhengxuan Jia, Zhao Xu, Tingyu Lin, Pengpeng Zhao, Yiming Ou
Journal of System Simulation
Abstract: In view of the complex situation of the current game which will be large-scale, high-intensity, not omniscient, and strong confrontation, and in response to the lack of flexibility and long iteration cycles in traditional game decision-making, the model of the unmanned complex game system is built according to the background of the unmanned red and blue game. Based on deep reinforcement learning technology, intelligent decision-making algorithms are studied in the background of unmanned red and blue games. With the help of deep neural networks and Bellman's optimal principle, the search of the huge solution space is more efficient, and …
Cooperative Control Method Of Mixed Traffic At Signalized Intersection,
2025
Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu 610039, China; China Automotive Engineering Research Institute Co. Ltd. Chongqing 401122, China
Cooperative Control Method Of Mixed Traffic At Signalized Intersection, Qiushi Huang, Yanyang Wang, Changliang Wu, Junfu Huang, Shenggen Zhang, Haoxuan Luo
Journal of System Simulation
Abstract: A hierarchical decoupling cooperative control method for signal light mixed traffic platoon is designed with the goal of improving the traffic environment at signalized intersections. In the research of upper layer signal control, a calculation model for vehicle delay time at intersections is selected, with the goal of minimizing the average delay time of vehicles. A genetic algorithm based upper layer control strategy for intersection signal lights is proposed and verified; in the research of lower layer mixed platoon control, a "1+N" form is used to establish a dynamic model of the mixed platoon. A vehicle energy consumption model …
Driverless Vehicles Distribution Problem In Communities In Cooperation Of Storage Points,
2025
Transportation Engineering College, Dalian Maritime University, Dalian 116026, China
Driverless Vehicles Distribution Problem In Communities In Cooperation Of Storage Points, Xiaolong Diao
Journal of System Simulation
Abstract: With the development of smart communities, the distribution of driverless vehicles in communities has become a focus of government, operators and researchers. The joint cooperation of storage points in communities is designed to balance the the distribution of each storage point and avoid the high input cost of driverless vehicles, which means that driverless vehicles can travel between different storage points. The driverless vehicle distribution problem proposed in this paper includes the unloading subproblem and the driverless vehicle scheduling subproblem. For the unloading subproblem, the unloading scheme of vehicles at storage points is optimized with the aim of minimizing …
Multi-Uav Deployment And Collaborative Offloading For Large-Scale Iot Systems,
2025
College of Computer and Data Science, Fuzhou University, Fuzhou 350116, China; Engineering Research Center of Big Data Intelligence, Ministry of Education, Fuzhou 350002, China; Fujian Key Laboratory of Network Computing and Intelligent Information Processing (Fuzhou University), Fuzhou 350116, China
Multi-Uav Deployment And Collaborative Offloading For Large-Scale Iot Systems, Zhiqin Huang, Tianying Lu, Zheyi Chen
Journal of System Simulation
Abstract: In large-scale internet-of-things (IoT) systems, unmanned aerial vehicles (UAV) enabled mobile edge computing (MEC) can alleviate the performance constraints on end IoT devices. However, due to the uneven distribution of IoT devices and inefficient problem-solving, how to efficiently perform computation offloading in large-scale IoT systems is a major challenge. Existing solutions generally cannot fit into dynamic multi-UAV scenarios, causing inefficient resource utilization and excessive response delay. To address these important challenges, this paper proposes a novel multi-UAV deployment and collaborative offloading (MUCO) method for large-scale IoT systems. A UAV deployment scheme based on constrained K-Means clustering is designed to …
Uav Path Planning In Complex Environments And Its Improved Artificial Rabbits Optimization Algorithm,
2025
Guizhou Provincial Characteristic Key Laboratory of System Optimization and Scientific Computation, College of Big Data and Information Engineering, Guizhou University, Guiyang 550025, China
Uav Path Planning In Complex Environments And Its Improved Artificial Rabbits Optimization Algorithm, Anlin Yin, Zhuhong Zhang
Journal of System Simulation
Abstract: The work probes into the model design of reliable and effective UAV path planning in complex obstacle environments and its related optimization algorithm. In the model design, a weight coefficient method and cylindrical coordinate system-based single-objective path planning model is developed to solve the UAV's flight path, in which the distance, angle, height and threat cost are taken as performance indices and obstacles in the ground and spatial regions are regarded as constraints. In the algorithm design, the SPM chaotic mapping is used to improve the initial population distribution of the artificial rabbit optimization algorithm in view of the …
Dynamic Scene Point Cloud Mapping Method Based On Lidar-Imu,
2025
Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China
Dynamic Scene Point Cloud Mapping Method Based On Lidar-Imu, Weigang Li, Lei Gan, Yongqiang Wang
Journal of System Simulation
Abstract: In order to address the issue of decreased mapping accuracy and precision caused by dynamic object interference during the construction of point cloud maps in dynamic scenarios such as urban roads, this study proposes a method for building dynamic scene point cloud maps based on LiDAR and inertial measurement unit (IMU). The method incorporates several key steps. An index-based Octree voxel structure is utilized to enhance the incremental update and nearest neighbor search efficiency of the local perception map (LP-Map). The point cloud is processed using ground segmentation, clustering, and dynamic score calculation methods to enable real-time identification of …
Performance Evaluation Technology For Low Earth Orbit Satellite Internet,
2025
College of Artificial Intelligence and Computer Science, Jiangnan University, Wuxi 214122, China; Peng Cheng Laboratory, Shenzhen 518055, China
Performance Evaluation Technology For Low Earth Orbit Satellite Internet, Xiaofeng Wang, Yi Zhang, Guoxiu Zhang
Journal of System Simulation
Abstract: Performance evaluation can provide strong support for new technology verification of low earth orbit(LEO) satellite internet. Aiming at the characteristics of flexible networking and large spacetime scale of satellite internet, a performance evaluation architecture of satellite internet is designed. Aiming at the characteristics of various performance elements, a performance evaluation index system is designed under the premise of multi-dimensional comprehensive consideration. Aiming at the problem of frequent switching of satellite-ground links caused by high-speed movement, an algorithm for satelliteground link switching is proposed, which provides support for subsequent collection work. Aiming at the multi-dimensional problem of indicators, a multi-mode …
Simulation Research On Multi-Aircraft Conflict Resolution Based On Improved Chaotic
Ant Colony Algorithm,
2025
Air Traffic Control and Navigation School, Air Force Engineering University, Xi'an 710051, China; National Key Laboratory of Air Traffic Collision Prevention, Xi'an 710051, China; PLA 95140 Troops, Huizhou 516000, China
Simulation Research On Multi-Aircraft Conflict Resolution Based On Improved Chaotic Ant Colony Algorithm, Liang Tong, Jie Yang, Xusheng Gan, Di Shen, Wenda Yang, Daxiong Chen
Journal of System Simulation
Abstract: A chaotic ant colony algorithm based on dynamic volatility factor is proposed to solve the problem of multi-aircraft conflict resolution during free flight of fighter jets. The mathematical modelling is conducted on the conflict resolution problem of multiple fighter jets in the air. Based on the performance characteristics of fighter jets, fighter protection zone models, flight conflict models, and resolution models are established respectively. The chaotic ant colony algorithm is improved by using Logistic mapping and Henon mapping to optimize the pheromone update formula in the ant colony algorithm, and setting a dynamic factor for the pheromone volatilization factor …
Research On Mixed-Model Assembly Line Balancing Optimization Based On Hybrid Genetic Tabu Search Algorithm,
2025
College of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
Research On Mixed-Model Assembly Line Balancing Optimization Based On Hybrid Genetic Tabu Search Algorithm, Ke Wang, Sijia Guan, Xiyan Yin, Xixing Li, Hongtao Tang
Journal of System Simulation
Abstract: Aiming at the problem of unbalanced running load caused by idle or blocked workstations in the assembly line of mixed-flow hydraulic pump, a hybrid genetic tabu search algorithm solution and computer simulation verification method are proposed. A hybrid genetic tabu search algorithm with strong local search capability is designed with the optimization objectives of minimizing the production beats of the mixed-flow assembly line, the operational loads distributed among different workstations and the operational load smoothing indices of different products within the same workstation. The algorithm incorporates multi-fragment crossover and fragmentation of feasible solutions through Hamming distance mutation operations. The …
Research On The Digital Twin Architecture And Application Of Cnc System,
2025
Shenyang CASNC Technology Co. , LTD, Shenyang 110168, China
Research On The Digital Twin Architecture And Application Of Cnc System, Xiyang Zhang, Xusheng Lin, Rui Zhou, Yi Hu
Journal of System Simulation
Abstract: In response to the intelligent and digital requirements for virtual debugging, performance evaluation, and machining quality optimization of CNC systems in the field of production and manufacturing, a five dimensional digital twin system of CNC systems combining virtual and real is constructed based on digital twin technology. And combined with relevant new generation information technology, the digital twin system is modeled in multiple fields, including information models, mechanism models, and digital threads, to achieve comprehensive simulation and analysis of physical entities and processing processes. The study also verifies the feasibility of data transmission between CNC systems and digital twin …
